仿人机器人用安全型六维力传感器设计与分析-机械设计及理论专业论文.docxVIP

Classified Index: TP212.12 U.D.C: 681.2 Dissertation for the Master Degree in Engineering DESIGN AND ANALYSIS OF A SAFE SIX-AXIS FORCE SENSOR FOR HUMANOID ROBOTS Candidate： Ma Xinke Supervisor： Prof. Wu Weiguo Academic Degree Applied for： Master of Engineering Speciality： Mechanical Design and Its Theory Affiliation ： School of Mechatronics Engineering Date of Defence： June, 2011 Degree-Conferring-Institution： Harbin Institute of Technology 摘要 仿人机器人在行走过程中，在其脚部安装的六维力传感器装置可以实时监测 出机器人与外界环境之间的作用力信息。然而，现有传感器装置在测量过程中通 常存在力耦合问题，这降低了传感器的动态响应特性和力信号的测量精度，另外， 还存在承载能力不足和无安全保护措施等问题。本文针对一种仿人机器人用六维 力传感器装置，综合考虑承载能力、结构刚度和安全保护等因素，设计了传感器 机械本体结构、信号处理系统和标定加载方案。 设计了六维力传感器的机械本体结构。将三组弹性梁与两个圆柱形导力杆通 过点接触和线接触方式组合在一起，使三组弹性梁的变形彼此不受影响，三个分 力相互独立，从结构原理上直接消除了力耦合。在结构中设置安全挡块，实现了 过载安全保护功能，通过合理选用弹性梁材料，提高了传感器的承载能力。 根据加载时各弹性应变梁受力方式的不同，确定了电阻应变片的布片方案和 传感器对力信息的检测原理，建立了应变电桥输出电压与弹性梁受力的关系表达 式。 设计了六维力传感器信号处理系统。采用 DSP 作为主处理器，外围电路具备 信号的放大、滤波和模数转换功能，通过设置基于 RS-232C 通信标准的串行接口， 实现了传感器与上位机间的通信。 加工了传感器机械本体，并制作了信号处理电路板，同时，还对传感器各弹 性梁的标定加载方案进行了设计，为传感器进一步研制和实验提供了硬件基础。 关键词：六维力传感器；安全保护；力耦合；信号处理；应变片 Abstract While the humanoid robot is walking, the force information between robot and external environment can be detected by the six-axis force sensor which is installed in the feet of robot. However, the problem of force coupling usually appears in existing technology during the measurement. This will decrease dynamic response characteristics and the measurement accuracy of the sensor directly. In addition, there are problems of insufficient bearing capacity and no safety protection. Considering the bearing capacity, structure rigidity and safety protection, this paper designed the structure of sensor’s mechanical body, signal processing system and the scheme of calibration according to a kind of six-axis force sensor device for humanoid robot. The structure of sensor’s mechanical body was designed. Three elastic beams and two cylindrical force-delivering poles were combined together in a special touching mode: point-touching m